# US 12,008,893 B2 · Autonomous vehicle (AV) control system with roadside unit (RSU) network

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- Number: US 12,008,893 B2
- Document ID: US12008893B2
- Status: Granted
- Kind: B2
- Application number: 17/840,243
- Filed: 2022-06-14
- Published: 2022-11-24
- Granted: 2024-06-11
- Earliest claimed: 2017-05-17
- Assignees: Cavh LLC
- Applicants: Cavh LLC
- Inventors: Bin Ran; Yang Cheng; Tianyi Chen; Yifan Yao; Keshu Wu; Haotian Shi; Shen Li; Kunsong Shi; Zhen Zhang; Fan Ding; Huachun Tan; Yuankai Wu; Shuoxuan Dong; Linhui Ye; Xiaotian Li
- Web page: https://patentgrep.com/patent/US12008893B2

## CPC

- G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]}
- G08G 1/0116: {from roadside infrastructure, e.g. beacons}
- G08G 1/012: {from other sources than vehicle or roadside beacons, e.g. mobile networks}
- G08G 1/0129: {for creating historical data or processing based on historical data}
- G08G 1/0133: {for classifying traffic situation}
- G08G 1/0141: {for traffic information dissemination}
- G08G 1/0145: {for active traffic flow control}
- G08G 1/017: identifying vehicles (G08G1/015, G08G1/054 take precedence)
- G08G 1/04: using optical or ultrasonic detectors
- G08G 1/052: with provision for determining speed or overspeed {(speed measuring in general G01P)}
- G08G 1/096725: {where the received information generates an automatic action on the vehicle control}
- G08G 1/096741: {where the source of the transmitted information selects which information to transmit to each vehicle}
- G08G 1/096775: {where the origin of the information is a central station}
- G08G 1/096783: {where the origin of the information is a roadside individual element}
- G08G 1/0968: Systems involving transmission of navigation instructions to the vehicle
- G08G 1/096811: {where the route is computed offboard}
- G08G 1/164: {Centralised systems, e.g. external to vehicles}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- G08G 1/22: {Platooning, i.e. convoy of communicating vehicles}
- H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)

## Abstract

The invention provides systems and methods for an autonomous vehicle (AV) control system comprising an onboard unit (OBU) and a roadside unit (RSU), which are two components of an Intelligent Road Infrastructure System (IRIS). This integrated vehicle-road system provides sensing, prediction, decision-making, and control instructions for specific vehicles at a microscopic level. Specifically, through the AV control system, an AV can be effectively and efficiently controlled by the AV itself and/or by the RSU. The AV control system provides individual vehicles with detailed time-sensitive control instructions for vehicles to fulfill driving tasks. In addition, the RSU conducts behavior prediction for individual vehicles at a microscopic level from 1 to 10 milliseconds, which is critical for connected and automated vehicle (CAV) operations.

## Claims

### Claim 1

An autonomous vehicle (AV) control system comprising:
an onboard unit (OBU); and
a roadside unit (RSU) network,
wherein the AV control system provides individual vehicles with time-sensitive control instructions for vehicles to fulfill driving tasks; and
wherein the RSU network comprises a plurality of RSUs that predict behavior of individual vehicles at a microscopic level; and
wherein the OBU fuses multi-source data collected from vehicle sensors and roadside sensors, and predicts conditions of the entire transportation network for individual vehicles at a microscopic level.

### Claim 2 (depends on 1)

The AV control system of claim 1, further comprising a vehicle control module and wherein:
the OBU receives the time-sensitive control instructions from the RSU network and provides the time-sensitive control instructions to the vehicle control module; and
the vehicle control module controls a vehicle according to the time-sensitive control instructions.

### Claim 3 (depends on 1)

The AV control system of claim 1, wherein the time-sensitive control instructions comprise instructions for vehicle longitudinal acceleration and speed, vehicle lateral acceleration and speed, and vehicle orientation and direction.

### Claim 4 (depends on 1)

The AV control system of claim 1, wherein the RSU network provides individual vehicles with vehicle-specific information comprising weather information, pavement conditions, and/or estimated travel time.

### Claim 5 (depends on 1)

The AV control system of claim 1, wherein the OBU transmits data to the RSU network, said data comprising vehicle static information, vehicle dynamic information; and/or driving environment information.

### Claim 6 (depends on 5)

The AV control system of claim 5, wherein:
vehicle static information comprises vehicle identifier, vehicle size, vehicle type, vehicle software information, and/or vehicle hardware information;
vehicle dynamic information comprises a timestamp, GPS coordinates, vehicle longitudinal and lateral position, vehicle speed, and/or vehicle origin/destination information; and/or
vehicle driving environment information comprises data collected by a vehicle sensing system.

### Claim 7 (depends on 1)

The AV control system of claim 1, further comprising a TCC/TCU communication link providing communication between the RSU network and traffic control centers (TCC) and/or between the RSU network and traffic control units (TCU).

### Claim 8 (depends on 1)

The AV control system of claim 1, further comprising an in-vehicle interface.

### Claim 9 (depends on 1)

The AV control system of claim 1, further comprising a data collection module monitoring the operational state of a vehicle comprising the AV control system.

### Claim 10 (depends on 1)

The AV control system of claim 1, further comprising a V2V communication module providing communication with a second AV control system.

### Claim 11 (depends on 1)

The AV control system of claim 1, wherein the RSU network sends the time-sensitive control instructions to the OBU.

### Claim 12 (depends on 1)

The AV control system of claim 1, wherein the RSU network senses vehicles on a road.

### Claim 13 (depends on 1)

The system of claim 1 wherein each RSU of the RSU network comprises a sensing module, a communication module, a data processing module, an interface module, and/or an adaptive power supply module.

### Claim 14 (depends on 1)

The AV control system of claim 1, wherein each RSU of the RSU network comprises a radar based sensor, a vision based sensor, a satellite based navigation system component, and/or a vehicle identification component.

### Claim 15 (depends on 1)

The AV control system of claim 1, wherein said RSU network is configured to provide high-resolution maps comprising lane width, lane approach, grade, and road geometry information to vehicles.

### Claim 16 (depends on 1)

The AV control system of claim 1, wherein said RSU network is configured to collect information comprising weather information, road condition information, lane traffic information, vehicle information, and/or incident information; and broadcast said information to vehicles.

### Claim 17 (depends on 1)

The AV control system of claim 1, wherein said autonomous vehicle (AV) control system is installed in a connected and automated vehicle (CAV) comprising an onboard unit (OBU).

### Claim 18 (depends on 17)

The CAV of claim 17, further comprising a vehicle control module and wherein said OBU receives time-sensitive control instructions for vehicles to fulfill driving tasks and sends the time-sensitive control instructions to the vehicle control module.

### Claim 19 (depends on 17)

The CAV of claim 17, further comprising traffic sensors and/or environment sensors.

### Claim 20 (depends on 17)

The CAV of claim 17, wherein said OBU receives time-sensitive control instructions from an autonomous vehicle (AV) control system comprising a roadside unit (RSU) network.